/*
 * MIT License
 *
 * Copyright (c) 2024 Carnegie Mellon University
 *
 * This file is part of Tartan.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
*/

#pragma once

#include <cmath>
#include <vector>

struct Point {
    double x, y;

    Point() : x(0), y(0) {}

    Point(double _x, double _y) : x(_x), y(_y) {}

    double distanceTo(const Point &other) const {
        return sqrt((x - other.x) * (x - other.x) +
                    (y - other.y) * (y - other.y));
    }
};

class PurePursuit {
  public:
    PurePursuit(const std::vector<Point> &path, double lookAheadDistance);
    Point getLookAheadPoint(const Point &robotPosition) const;
    double computeCurvature(const Point &robotPosition,
                            double robotOrientation) const;

  private:
    std::vector<Point> path;
    double lookAheadDistance;
};
